Paper Info
Title
Terrain Adaptive Navigation for planetary rovers
Abstract
This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict the slippage of that terrain, and use this information in the planning of a path to the goal. This navigation system consists of several integrated techniques: goodness map generation, terrain triage, terrain classification, remote slip prediction, path planning, High-Fidelity Traversability Analysis, and slip-compensated path following. Results from experiments with an end-to-end onboard implementation of the TANav system in a Mars analog environment are shown and compared to results from experiments with a more traditional navigation system that does not account for terrain properties. © 2009 Wiley Periodicals, Inc.
Year
DOI
Venue
2009
10.1002/rob.v26:4
J. Field Robotics
Field
DocType
Volume
Terrain classification,Motion planning,Mars Exploration Program,Computer vision,Stereo cameras,Simulation,Terrain,Navigation system,Path following,Artificial intelligence,Engineering,Mobile robot navigation
Journal
26
Issue
ISSN
Citations 
4
1556-4959
23
PageRank 
References 
Authors
1.37
22
3
Name
Order
Citations
PageRank
Daniel M. Helmick120815.78
Anelia Angelova241030.70
Larry Matthies31117.19